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<div class="title">conditional_euclidean_clustering.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">typedef</span> std::vector&lt;pcl::PointIndices&gt; IndicesClusters;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;pcl::PointIndices&gt; &gt; IndicesClustersPtr;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html">   83</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html">ConditionalEuclideanClustering</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointT&gt;::Ptr SearcherPtr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#af707af3b42a9b8cd4314e95ac9134eed">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#af707af3b42a9b8cd4314e95ac9134eed">ConditionalEuclideanClustering</a> (<span class="keywordtype">bool</span> extract_removed_clusters = <span class="keyword">false</span>) :</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a8addfb4ec55c04d29ef5624384ec23cf">searcher_</a> (),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">condition_function_</a> (),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">cluster_tolerance_</a> (0.0f),</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">min_cluster_size_</a> (1),</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">max_cluster_size_</a> (std::numeric_limits&lt;int&gt;::max ()),</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7a74b3c2c81f8b5b241bd1c6d4d0625c">extract_removed_clusters_</a> (extract_removed_clusters),</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#aaaceca7bf299bcf286f8f061683c93e1">small_clusters_</a> (new pcl::IndicesClusters),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a23fcf0249ffedd63a846e0a6196a2538">large_clusters_</a> (new pcl::IndicesClusters)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a62bf691a0260fc34c3df9d9d48cb2faa">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a62bf691a0260fc34c3df9d9d48cb2faa">setConditionFunction</a> (<span class="keywordtype">bool</span> (*condition_function) (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keywordtype">float</span>)) </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">condition_function_</a> = condition_function;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#afc78950824bf9940d260835543862850">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#afc78950824bf9940d260835543862850">setConditionFunction</a> (boost::function&lt;<span class="keywordtype">bool</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keywordtype">float</span>)&gt; condition_function)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">condition_function_</a> = condition_function;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#abc0ffbe8624cf5c990484e35055f3c87">  146</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#abc0ffbe8624cf5c990484e35055f3c87">setClusterTolerance</a> (<span class="keywordtype">float</span> cluster_tolerance)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">cluster_tolerance_</a> = cluster_tolerance;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a462b1b1ee44fd92efd8af88add42c61a">  153</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a462b1b1ee44fd92efd8af88add42c61a">getClusterTolerance</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">cluster_tolerance_</a>);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a05a9b657c356141464cb80ee22ab53c2">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a05a9b657c356141464cb80ee22ab53c2">setMinClusterSize</a> (<span class="keywordtype">int</span> min_cluster_size)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">min_cluster_size_</a> = min_cluster_size;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#ae97b076d0e5f939189c3c2207e872785">  169</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#ae97b076d0e5f939189c3c2207e872785">getMinClusterSize</a> ()</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">min_cluster_size_</a>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a8c0ad8703fab1ddc50e09924eb2cfcc8">  178</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a8c0ad8703fab1ddc50e09924eb2cfcc8">setMaxClusterSize</a> (<span class="keywordtype">int</span> max_cluster_size)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">max_cluster_size_</a> = max_cluster_size;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a003e5aabe77befd122290e8039e013ec">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a003e5aabe77befd122290e8039e013ec">getMaxClusterSize</a> ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">max_cluster_size_</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a8c03a476748bf42bbca42bc66141e785">segment</a> (IndicesClusters &amp;clusters);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#af264099e843fbf5d48049857e1e1d6af">  208</a></span>&#160;      <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#af264099e843fbf5d48049857e1e1d6af">getRemovedClusters</a> (IndicesClustersPtr &amp;small_clusters, IndicesClustersPtr &amp;large_clusters)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7a74b3c2c81f8b5b241bd1c6d4d0625c">extract_removed_clusters_</a>)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          PCL_WARN(<span class="stringliteral">&quot;[pcl::ConditionalEuclideanClustering::getRemovedClusters] You need to set extract_removed_clusters to true (in this class&#39; constructor) if you want to use this functionality.\n&quot;</span>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        small_clusters = <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#aaaceca7bf299bcf286f8f061683c93e1">small_clusters_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        large_clusters = <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a23fcf0249ffedd63a846e0a6196a2538">large_clusters_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a8addfb4ec55c04d29ef5624384ec23cf">  221</a></span>&#160;      SearcherPtr <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a8addfb4ec55c04d29ef5624384ec23cf">searcher_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">  224</a></span>&#160;      boost::function&lt;bool (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;, <span class="keywordtype">float</span>)&gt; <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">condition_function_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">  227</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">cluster_tolerance_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">  230</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">min_cluster_size_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">  233</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">max_cluster_size_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a7a74b3c2c81f8b5b241bd1c6d4d0625c">  236</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a7a74b3c2c81f8b5b241bd1c6d4d0625c">extract_removed_clusters_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#aaaceca7bf299bcf286f8f061683c93e1">  239</a></span>&#160;      pcl::IndicesClustersPtr <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#aaaceca7bf299bcf286f8f061683c93e1">small_clusters_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_euclidean_clustering.html#a23fcf0249ffedd63a846e0a6196a2538">  242</a></span>&#160;      pcl::IndicesClustersPtr <a class="code" href="classpcl_1_1_conditional_euclidean_clustering.html#a23fcf0249ffedd63a846e0a6196a2538">large_clusters_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  };</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/conditional_euclidean_clustering.hpp&gt;</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_SEGMENTATION_CONDITIONAL_EUCLIDEAN_CLUSTERING_H_</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html">pcl::ConditionalEuclideanClustering</a></div><div class="ttdoc">ConditionalEuclideanClustering performs segmentation based on Euclidean distance and a user-defined c...</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a003e5aabe77befd122290e8039e013ec"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a003e5aabe77befd122290e8039e013ec">pcl::ConditionalEuclideanClustering::getMaxClusterSize</a></div><div class="ttdeci">int getMaxClusterSize()</div><div class="ttdoc">Get the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a05a9b657c356141464cb80ee22ab53c2"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a05a9b657c356141464cb80ee22ab53c2">pcl::ConditionalEuclideanClustering::setMinClusterSize</a></div><div class="ttdeci">void setMinClusterSize(int min_cluster_size)</div><div class="ttdoc">Set the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a23fcf0249ffedd63a846e0a6196a2538"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a23fcf0249ffedd63a846e0a6196a2538">pcl::ConditionalEuclideanClustering::large_clusters_</a></div><div class="ttdeci">pcl::IndicesClustersPtr large_clusters_</div><div class="ttdoc">The resultant clusters that contain more than max_cluster_size points</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a462b1b1ee44fd92efd8af88add42c61a"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a462b1b1ee44fd92efd8af88add42c61a">pcl::ConditionalEuclideanClustering::getClusterTolerance</a></div><div class="ttdeci">float getClusterTolerance()</div><div class="ttdoc">Get the spatial tolerance for new cluster candidates.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a498b8dc3314192260c359d7fff027a08"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a498b8dc3314192260c359d7fff027a08">pcl::ConditionalEuclideanClustering::max_cluster_size_</a></div><div class="ttdeci">int max_cluster_size_</div><div class="ttdoc">The maximum cluster size (default = unlimited)</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a62bf691a0260fc34c3df9d9d48cb2faa"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a62bf691a0260fc34c3df9d9d48cb2faa">pcl::ConditionalEuclideanClustering::setConditionFunction</a></div><div class="ttdeci">void setConditionFunction(bool(*condition_function)(const PointT &amp;, const PointT &amp;, float))</div><div class="ttdoc">Set the condition that needs to hold for neighboring points to be considered part of the same cluster...</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a7251600d738390348ac703fa3f91775b"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a7251600d738390348ac703fa3f91775b">pcl::ConditionalEuclideanClustering::condition_function_</a></div><div class="ttdeci">boost::function&lt; bool(const PointT &amp;, const PointT &amp;, float)&gt; condition_function_</div><div class="ttdoc">The condition function that needs to hold for clustering</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a7a74b3c2c81f8b5b241bd1c6d4d0625c"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a7a74b3c2c81f8b5b241bd1c6d4d0625c">pcl::ConditionalEuclideanClustering::extract_removed_clusters_</a></div><div class="ttdeci">bool extract_removed_clusters_</div><div class="ttdoc">Set to true if you want to be able to extract the clusters that are too large or too small (default =...</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a8addfb4ec55c04d29ef5624384ec23cf"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a8addfb4ec55c04d29ef5624384ec23cf">pcl::ConditionalEuclideanClustering::searcher_</a></div><div class="ttdeci">SearcherPtr searcher_</div><div class="ttdoc">A pointer to the spatial search object</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a8c03a476748bf42bbca42bc66141e785"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a8c03a476748bf42bbca42bc66141e785">pcl::ConditionalEuclideanClustering::segment</a></div><div class="ttdeci">void segment(IndicesClusters &amp;clusters)</div><div class="ttdoc">Segment the input into separate clusters.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.hpp:43</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a8c0ad8703fab1ddc50e09924eb2cfcc8"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a8c0ad8703fab1ddc50e09924eb2cfcc8">pcl::ConditionalEuclideanClustering::setMaxClusterSize</a></div><div class="ttdeci">void setMaxClusterSize(int max_cluster_size)</div><div class="ttdoc">Set the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a9c73c915adcfbb7050bc9b804dde4c41"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a9c73c915adcfbb7050bc9b804dde4c41">pcl::ConditionalEuclideanClustering::cluster_tolerance_</a></div><div class="ttdeci">float cluster_tolerance_</div><div class="ttdoc">The distance to scan for cluster candidates (default = 0.0)</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_a9cfb49d34b878c33fe3bcb5fa5895d24"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#a9cfb49d34b878c33fe3bcb5fa5895d24">pcl::ConditionalEuclideanClustering::min_cluster_size_</a></div><div class="ttdeci">int min_cluster_size_</div><div class="ttdoc">The minimum cluster size (default = 1)</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_aaaceca7bf299bcf286f8f061683c93e1"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#aaaceca7bf299bcf286f8f061683c93e1">pcl::ConditionalEuclideanClustering::small_clusters_</a></div><div class="ttdeci">pcl::IndicesClustersPtr small_clusters_</div><div class="ttdoc">The resultant clusters that contain less than min_cluster_size points</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_abc0ffbe8624cf5c990484e35055f3c87"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#abc0ffbe8624cf5c990484e35055f3c87">pcl::ConditionalEuclideanClustering::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(float cluster_tolerance)</div><div class="ttdoc">Set the spatial tolerance for new cluster candidates.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_ae97b076d0e5f939189c3c2207e872785"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#ae97b076d0e5f939189c3c2207e872785">pcl::ConditionalEuclideanClustering::getMinClusterSize</a></div><div class="ttdeci">int getMinClusterSize()</div><div class="ttdoc">Get the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_af264099e843fbf5d48049857e1e1d6af"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#af264099e843fbf5d48049857e1e1d6af">pcl::ConditionalEuclideanClustering::getRemovedClusters</a></div><div class="ttdeci">void getRemovedClusters(IndicesClustersPtr &amp;small_clusters, IndicesClustersPtr &amp;large_clusters)</div><div class="ttdoc">Get the clusters that are invalidated due to size constraints.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_af707af3b42a9b8cd4314e95ac9134eed"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#af707af3b42a9b8cd4314e95ac9134eed">pcl::ConditionalEuclideanClustering::ConditionalEuclideanClustering</a></div><div class="ttdeci">ConditionalEuclideanClustering(bool extract_removed_clusters=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_euclidean_clustering_html_afc78950824bf9940d260835543862850"><div class="ttname"><a href="classpcl_1_1_conditional_euclidean_clustering.html#afc78950824bf9940d260835543862850">pcl::ConditionalEuclideanClustering::setConditionFunction</a></div><div class="ttdeci">void setConditionFunction(boost::function&lt; bool(const PointT &amp;, const PointT &amp;, float)&gt; condition_function)</div><div class="ttdoc">Set the condition that needs to hold for neighboring points to be considered part of the same cluster...</div><div class="ttdef"><b>Definition:</b> conditional_euclidean_clustering.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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